FR2711123A1 - Transporter-rocker for large parts. - Google Patents

Abstract

This rocker transporter for large parts comprises a transport crew (1.1) and a reversal crew (1.2), each comprising a platform (2 or 5) which comprises a multiplicity of extendable supports (3), the crew of transport (1.1) being suspended from an overhead crane (6) and the platform (5) of the overturning crew (1.2) being mounted on a structure in which it can turn on itself and selectively move in height . The extendable supports (3) are pneumatic cylinders mounted in rows on a common profile which forms the channels for pressurized air and vacuum. The transport platform (2) is arranged so as to be able to pass from a rigid arrangement to a floating arrangement for its centering.

Description

In work processes, it is very usual that it is necessary

  transport a part from one point to another and, in some cases, return the

by changing its position.

  This transport and this reversal present serious difficulties when the parts are large and these operations are even more complicated when the parts can adopt different configurations since it is then necessary to adapt the installation to the shapes that the

  parts & handle present in each case.

  On the other hand, the use of carbon fiber is becoming more important every day for the manufacture of different parts in various industrial sectors, as is the case for the leisure nautical industry, aeronautics, the automotive sector, etc. and it is believed that in the future these fibers, as well as those obtained from silicon, will constitute a basic element in the

industrial manufacturing.

  In the use of carbon fiber for the manufacture of large parts, it is necessary to take into account the fact that these parts, until their final treatment and the corresponding hardening, do not have an adequate consistency, since before this stage, carbon fiber and what are called "composites" in general

  remain a soft material difficult to handle difficult.

  Under these conditions, the handling and transport of these large parts, from one machine to another of these machines which are involved in the forming process, is a really extremely complex operation *, if we take into account the fact that, as said above, it is necessary to turn these parts over, and that all of this must be done while maintaining the parts without creating deformations and without them losing the shapes obtained, which requires to present support solutions which adapt to these shapes and, therefore, to present specific support solutions for each different room configuration. The applicant for the present invention is also the applicant for European patent No. 91 310711. 6, the object of which is a workpiece support installation which adapts to the different shapes and dimensions that the workpieces can have. For this reason, the installation has a multiplicity of support points which move in space in a fully automatic way to achieve & define as a whole a theoretical support surface adapted to the specific shapes and dimensions of the room.

that it is about supporting.

  On the basis of this concept, the invention relates to an installation for transporting and turning large parts which, as will be seen below, makes it possible to provide automatic, precise and simple transport and turning large parts of any shape, including those that do not have a rigid consistency, with the additional particularity of being able to adapt to any shapes that the part & handle can have and to ensure this adaptation in a way

fully automatic.

  Other characteristics and advantages of the invention

  will be better understood on reading the description which will

  follow, from an exemplary embodiment and with reference to the accompanying drawings, given only by way of example and in which: FIG. 1 corresponds to a schematic perspective view of a possible practical example of

the object of the present invention.

  Figures 2 to 4 are views similar to the previous view but now showing different phases of the work performed, by transporting and turning a large piece 8. In each of these figures, we show by a side view, a detail of the provision occupied by the

  platform 2 and / or platform 5.

  FIG. 5 corresponds to a detailed view of the longitudinal section of one of the extensible supports 3 shown according to a possible and nonlimiting example of practical embodiment. Figure 6 is an elevational view of the mechanisms to which the platform 2 is suspended according to an embodiment

possible practice.

  FIG. 7 shows the profile view of FIG. 6, in

part in section.

  Figure 8 is a view similar to the previous one, but showing only the, platform 2 and its mechanisms, with an enlarged detail of the area of the locking cones of the

platform 2.

  The object of the present invention is a transporter-

  rocker for large parts, flat, curved, or of any shape, designed mainly to transport and turn large panels obtained by the compression of ribbons of carbon fibers or fibers of the type generally

called "composite".

  In handling these large pieces of composite, it is necessary to take into account the fact that, in addition to the complexity inherent in the large size of these pieces, the fact that, depending on the shapes that one wishes to obtain, the piece of composite takes a particular configuration and it is therefore necessary that the installation intended for its transport

  and & its reversal adapts to these variable forms.

  In addition, until the composite part has reached its final processing state, the resin is not properly cured and, therefore, the part must be supported with a mold which faithfully reproduces its shapes, if the we want to prevent it from losing them, and all this without causing permanent deformation in the composite part. The object of the present invention consists of a transport or transfer crew 1.1 and a crew of

turnaround 1.2.

  The transport crew 1.1 is composed of a double-body traveling crane 6, movable along the three axes W, Y, Z, capable of covering the entire useful surface of the area o

the installation is placed.

  Suspended from deck 6 is a platform 2, the dimensions of which correspond to those of the parts to be manufactured. The platform 2 comprises a multiplicity of vertical supports 3 telescopically extensible. Due to the large number of extendable vertical supports 3 which are necessary, provision has been made for their telescopic extension and withdrawal movement to be carried out by means of pneumatic solutions; so that each vertical support 3 behaves like a jack which, once reached the corresponding position, is

hangs in this position.

  It is obvious that the principle of the invention is not altered in any way if the extensible supports 3, if possible, move by means of a motor for each support, as described in the European patent

  91.310711.6 from the same plaintiff.

  Each of the extendable supports 3 has a suction cup 3.1 at its free end. The behavior of these extendable supports 3 is as follows: each support 3 is put in extension until coming into contact with the part to be transported and, at the moment; o the contact is established, the vertical movement stops. In this way, the multiplicity of extensible supports 3 "copies" the shape of the surface of the part to be handled, in a manner which is independent of the different forms which this part can present in each case. When the multiplicity of extensible supports 3 has thus defined a theoretical surface which "copies" the surface configuration of the part to be handled, the vacuum comes into action; so that, in the suction cups 3.1, a suction cup action is established which develops the suction force necessary to lift the part from the platform 2. In FIG. 2, it can be seen that, in an example of application possible, the platform 2 of the transport crew 1.1 is placed on a table 7 above which is arranged a large piece 8 resting on a support conformation which helps it to keep its shape. At this moment, the corresponding extensible supports 3 are lowered until they meet the part 8 and stop at this instant. In this way, the extensible supports 3 have "copied" the shape of the part 8. Then, a vacuum is created in the suction cups 3.1 and, during the ascent of the platform 2, the part 8

go up with it.

  Once the part 8 is suspended from the platform 2, the bridge 6 sets in motion to transport it to any place on the useful surface of the enclosure, so that it is thus possible to resume and unload parts 8 at any point of said useful surface, in

  transporting them, for example, from one machine to another.

  On the other hand, the reversing crew 1.2 is formed by a platform 5 analogous to platform 2 and is

  also with extendable supports 3.

  Here, the platform 5 of the overturning crew is disposed in a support structure 4 fixed to the ground but which allows the platform 5 to move in height and turn on itself, at least 180 ', although it can rotate on larger arcs, including

full turns.

  In this way, and by using a table 9 which can move on carriages 10, the process of turning

  of part 8 is carried out as follows.

  First place, the platform 2 of the transport crew 1.1, transported by the bridge 6, is located above the platform 5 of the overturning crew 1.2, taking the part 8 on this platform . At this time, the

  extendable supports 3 correspondents rise on the platform

  form 5 until it comes into contact with part 8 on the lower part of the latter, as can be seen on the

figure 3.

  In this situation, a vacuum is created in the suction cups 3.1 of the extendable supports 3 of the turning platform 5 and the vacuum is eliminated in the suction cups 3.1 of the extendable supports 3 of the platform 2, the latter rising, so that platform 2 can now withdraw. When the platform 2 has withdrawn, the platform rises on its supports 4 and rotates 180; so

  that, now, the part 8 is located under the platform 5.

  Now, the movable table 9 moves on its carriages 10 until it is located under the platform 5 so that the latter can place the part 8 on it, as can be seen.

see in figure 4.

  In this way, the part 8 was turned over and, consequently, the installation according to the invention allows

  thus moving and turning large parts.

  According to a possible variant of practical embodiment, the turning platform 5 forms a unit together with the transport platform 2, by moving with the latter, in an arrangement in which the turning platform 5 can be find opposite the transport platform 2 to carry out the joint work phase; or be separated from it in case one must be able to operate

each independently of the other.

  In FIG. 5, a possible practical embodiment of the extensible supports 3 is shown. As can be seen, the support 3 is a cylinder whose piston 3.9 integrally carries a tubular rod 3.8 at the upper end of which the suction cup 3.1 is mounted as shown

on the drawing.

  The suction cup 3.1 is arranged on a ball 3.2 and is retained by the elastic traction that a bead of elastic material 3.3 exerts on it. This elastic cord allows the extendable support 3 to be oriented downwards without the suction cup 3.1 falling. I The piston 3.9 descends under the effect of the entry of pressurized fluid through line 3.6, while the entry of fluid through line 3.7 determines the rise of piston 3.9

  and, with it, that of the suction cup 3.1.

  The vacuum inside the suction cup 3.1 is obtained through a central tube 3.13 which passes inside the tubular rod 3.8. To this tube 3.13 is connected a vacuum inlet 3.10 provided with a shutter which remains normally open but which closes when the piston 3.9 reaches its lower stop position, as shown in FIG. 5, thereby closing the inlet empty. For this, the piston 3.9 strikes a finger 3.11 which is pushed in the opposite direction by a spring, thereby closing the vacuum inlet 3.10. On the other hand, there is another inlet for pressurized fluid 3.12, so that, when air under pressure enters through this inlet, the components of a clamp 3.5 move against a spring 3.4 thereby releasing the central tubular rod 3.8 and, with it, the suction cup 3.1 which can move in height. When the entry of pressurized air ceases, the clamp 3.5 returns to its initial position under the action of the spring 3.4, leaving the central tubular rod 3.8 and, with it, the suction cup 3. 1 blocked. Because of the multiplicity of extensible supports 3.3 which exist, a solution has been devised which makes it possible to greatly simplify their mounting and their supply of pressurized air, as well as their

vacuum connections.

  For this, one uses for each row of extendable supports 3 the same aluminum profile 11 suitably fixed to the general structure. This aluminum profile 11 has four longitudinal holes 11. 1, 11.2, 11.3 and 11.4 which are formed therein and which constitute conduits or tracks. The withdrawal input 3.6 is connected to the conduit 11.1 by means of a connection hole and the corresponding seals. Similarly, entry 3.12 for unlocking the

  clamp 3.5 is connected in the same way to the conduit 11.4.

  The feed input 3.7 is connected to the conduit 11.2 by similar means, and the vacuum input 3.9 is connected

to conduit 11.3 in the same way.

  The vacuum duct 3.11, the unlocking pipe 11.4 and the withdrawal pipe 11. 1 are controlled by solenoid valves common to numerous extensible supports 3. On the other hand, the advance input 3.7 of each support 3 is controlled

by an individual solenoid valve.

  The general operation is as follows: a general solenoid valve is actuated by allowing the entry of pressurized air into the duct 11.4, which establishes the release of

  the central tubular rod 3.8 of the support 3.

  The supports 3 which will have & work, depending on the dimensions and shapes of the part 8 which is to be transferred and / or returned, are selected through the

corresponding "software".

  The supports 3 which are going to work open their individual solenoid valves which allow free entry of pressurized air 3.7, so that the central tubular rod 3.8 begins to advance until its suction cup 3.1

  meets room 8, stopping at this time.

  Since at the beginning of the advance of the rod 3.8, the vacuum inlet 3. 10 is left free, said suction cup 3.1 is fixed to the part 8 under the effect of the vacuum by reaching against

this piece 8.

  When all the supports 3 which must work have reached the part 8 and keep it gripped by the vacuum of their suction cups 3.1, the pressure is cut in the conduit 11.4 and the clamp 3.5 is blocked, thus blocking

  the tubular rod 3.8 in the position it has reached.

  With this arrangement, the part 8 can be manipulated and, when it has been transferred and / or turned over, the vacuum is closed so that the suction cups 3.1 leave the part 8 free, the air is sent under pressure by 11.4, by releasing the clamp 3.5 and the pressurized air is sent by 11.1 by retracting the central tubular rod 3.8 to its initial position. The supports 3 which have not been

  selected remain as they were.

  On the other hand, it should be noted that this installation was designed for the transport and turning over of large parts, as is the case for parts of the fuselage structure of aircraft, their wings, etc., and, for this, the bridge 6 with double body has large dimensions. This supposes that, when installed in the corresponding enclosure, there may be differences in temperature or level between one end and the other of said enclosure, which is

  would result in offsets from platform 2.

  To avoid this drawback and to obtain perfect centering of the platform 2 at all times at the point where it must take and leave the parts 8, the following solution has been provided. The platform 2 is suspended from the double body bridge 6 in an arrangement which keeps the platform 2 rigid at certain times and, at other times, leaves it floating, that is to say that it has the freedom to describe certain movements. In this way, when the platform 2 moves along the enclosure, it does so in the rigid position but, when it reaches a point where it must take or leave a part 8, it switches to the situation

  floating, until it is perfectly centered.

  According to a practical embodiment which is shown in Figures 6, 7 and 8, there is provided a traveling crane 6 & double body to which the platform 2 is suspended. By means of this bridge 6, the platform 2 can move along the axes X, Y and Z so as to reach any point of the installation. In addition, the ascent and descent of this platform is carried out using screws 12 and corresponding nuts, for the final approximation of the point where one

  must take and leave the corresponding piece 8.

  At the ends of the platform 2, there are pairs of jacks 13 to the rod of which is coupled a bar 14 which extends until forming, at its lower end, one of the articulated attachment points 15 of the

platform 2.

  As can be seen in the detail in FIG. 8, the general chassis of the platform 2 has rings with external taper 16 while, in the connecting member of the lower end of the bars 14, are arranged d '' other complementary rings 17 with internal taper. The corresponding bar 14 passes inside

each pair of rings 16 and 17.

  With this arrangement, when the jacks 13 put their rod in extension, the bars 14 move in the descending longitudinal direction, and each pair of conical rings 16 and 17 uncouples. In this situation, the platform 2 remains floating and is capable of describing approximation movements for its centering, which is

  permitted by the articulated attachment points 15.

  On the contrary, when the jacks 13 retract their rod, the bars 14 rise, the pairs of conical rings 16 and 17 mating, which leaves the platform 2 in

a rigid layout.

  With this solution, it is obtained that the displacements of the platform 2 along the enclosure, by transporting the parts 8, are carried out in its rigid arrangement but only on arrival at a point where it must take or leave a part 8, the platform 2 passes at a given time to the floating arrangement, to cooperate with centering means which guarantee the total precision of the position of the platform 2 independently of any changes in level, in temperature or similar conditions between a

  point and another of the installation enclosure.

  The centering means can be formed by rods fixed vertically to the floor of the enclosure and whose position can thus be adjusted with absolute precision, and by receptacles for receiving these rods, which are defined in the general framework of the platform 2. In this way, when the platform 2 arrives at a point of loading or unloading of the parts 8 and it goes to the floating position, it can move in this floating position until that the aforementioned housings of its general frame coincide with the vertical rods fixed to the ground, then introduce these rods into these housings, thereby ensuring perfect centering of the platform 2 in

said position.

Claims (7)

R E V E N D I C A T I 0 N S CLAIMS   1. Transporter-rocker for large characteristic parts   se in that it is composed of a transport crew (1.1) and an overturning crew (1.2), in that the transport crew (1.1) consists of a platform (2) which is provided with a multiplicity of extendable supports (3) and is supported by a mobile double-body traveling crane (6)   along the X, Y and Z axes, while the return crew   ment (1.2) is composed of a platform (5), also provided with a multiplicity of extendable supports (3) and mounted on a support structure (4) which allows it to be moved selectively in height and the turn   around its longitudinal axis on an arc of at least 180 '.   2. Transporter-rocker for large parts according to the preceding claim, characterized in that the extendable supports (3) are preferably constituted by pneumatic cylinders which carry a suction cup (3.1) at their free end, in that each extendable support ( 3) moves until it comes into contact with the corresponding part (8) to be manipulated, and locks in this position at this moment, thus forming, using all the supports (3), a copy of the surface of the corresponding part (8), which is   vacuum vacuum gripping (3.1).   3. Transporter-rocker for large parts according to claim 1, characterized in that, in a preferred embodiment, the rotational movement of 180 'of the platform (5) is obtained by mounting it in a structure (4) fixed on the ground; this structure (4) allowing, in addition to the rotation of the platform (5), the selective displacement of the platform (5) uphill and downhill.   4. Transporter-rocker for large parts according to claim 1, characterized in that the platform (2) moves vertically across its own movement along the Y axis of the bridge (6) and its final approximation at point o it must take or leave the corresponding part (8) is carried out using screws (12) and corresponding nuts, because the platform (2) is suspended from the bridge (6) by means of '' a system which allows the platform (2) to have a floating play when it reaches the point where it must take or leave the part (8) so that said floating play allows the platform ( 2) meet fixed centering means, thereby guaranteeing centering precise of said platform (2).   5. Transporter-rocker for large parts according to   claims 1 and 4, characterized in that the platform   (2) is suspended from bars (14) which are coupled by one end to the rod of respective cylinders (13) while, by the other, they couple to the platform (2) using articulated attachment points (15), each of these bars (14) passing inside a set of conical rings (16 and 17) so that the actuation of the jacks (13) determines the longitudinal displacement of the bars (14) in either direction, to block the sets of tapered rings (16 and 17) in one case, which corresponds to the rigid arrangement of the platform (2), and to release the sets of tapered rings (16 and 17) in the other case, leaving the platform (2) in the floating layout.   6. Transporter-rocker for large parts according to   claims 1 and 2, characterized in that each row of   supports (3) is mounted in an aluminum profile (11) common to all these supports; ducts (11.1, 11.2, 11.3 and 11.4) provided for pressurized air and for vacuum being formed in this profile.   7. Transporter-rocker for large parts according to   Claims 1, 2 and 6, characterized in that the conduits   (11.1, 11.2 and 11.4) form channels for the pressurized air to withdraw the supports (3), advance and release respectively, while the duct (11.3) is provided for the vacuum channel; however, it is intended that the withdrawal, release and vacuum paths are controlled by common solenoid valves & a multiplicity of supports (3), the advance path being the only one controlled by an individual solenoid valve for each support (3).